error while building DVO SLAM

[mariusschweizer1]

Hi I've tried to compile the TUM DVO package according to the instructions above, but the last step "catkin_make" of dvo package doesn't work.

I'm working with the "Festo Robotino 3" and use Ubuntu 16.04, ROS Kinetic, RGB-D Kinect ONE. When i try to compile this errors occur. It seems to be a problem with sophus inclulde files but i'm new with linux/ros. I hope some one can help me.

robotino@MKRoboLab:~$ cd robotino_ws/ robotino@MKRoboLab:~/robotino_ws$ catkin_make -DCMAKE_BUILD_TYPE=Release Base path: /home/robotino/robotino_ws Source space: /home/robotino/robotino_ws/src Build space: /home/robotino/robotino_ws/build Devel space: /home/robotino/robotino_ws/devel Install space: /home/robotino/robotino_ws/install

Running command: "make cmake_check_build_system" in "/home/robotino/robotino_ws/build"

Running command: "make -j4 -l4" in "/home/robotino/robotino_ws/build"

[ 0%] Built target _robotino_msgs_generate_messages_check_deps_MotorReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_ResetOdometry [ 0%] Built target _robotino_msgs_generate_messages_check_deps_PowerReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetEncoderPosition [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetBHAPressures [ 0%] Built target _robotino_msgs_generate_messages_check_deps_GrapplerReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_EncoderReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetGrapplerAxis [ 0%] Built target _robotino_msgs_generate_messages_check_deps_GripperState [ 0%] Built target _robotino_msgs_generate_messages_check_deps_AnalogReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_DigitalReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_NorthStarReadings [ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetGrapplerAxes [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetGripperState [ 0%] Built target _robotino_msgs_generate_messages_check_deps_BHAReadings [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 4%] Built target robotino_laserrangefinder_node [ 4%] Built target robotino_camera_node [ 5%] Built target kinect2_registration [ 5%] Built target actionlib_msgs_generate_messages_py [ 5%] Building CXX object dvo_slam/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveActionGoal [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveFeedback [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveGoal [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveActionResult [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveResult [ 5%] Built target actionlib_msgs_generate_messages_cpp [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveActionFeedback [ 5%] Built target actionlib_msgs_generate_messages_eus [ 5%] Built target actionlib_msgs_generate_messages_lisp [ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveAction [ 5%] Built target actionlib_msgs_generate_messages_nodejs [ 5%] Built target dvo_ros_gencfg [ 6%] Built target joystick_teleop_node [ 7%] Built target dvo_slam_gencfg [ 15%] Built target robotino_msgs_generate_messages_py [ 15%] Built target RobotinoLocalPlanner [ 15%] Built target _dvo_slam_generate_messages_check_deps_PoseStampedArray [ 21%] Built target robotino_msgs_generate_messages_lisp [ 28%] Built target robotino_msgs_generate_messages_eus [ 34%] Built target robotino_msgs_generate_messages_cpp [ 40%] Built target robotino_msgs_generate_messages_nodejs [ 41%] Built target kinect2_bridge [ 42%] Built target kinect2_bridge_nodelet [ 43%] Built target kinect2_calibration [ 45%] Built target robotino_odometry_node [ 46%] Built target kinect2_viewer [ 55%] Built target robotino_node [ 58%] Built target robotino_local_move_generate_messages_py [ 61%] Built target robotino_local_move_generate_messages_cpp [ 64%] Built target robotino_local_move_generate_messages_eus [ 67%] Built target robotino_local_move_generate_messages_lisp [ 70%] Built target robotino_local_move_generate_messages_nodejs [ 72%] Built target robotino_local_move_server_node [ 74%] Built target robotino_local_move_client_node [ 76%] Built target robotino_safety_node [ 77%] Built target keyboard_teleop_node [ 78%] Built target dvo_slam_generate_messages_eus [ 79%] Built target dvo_slam_generate_messages_py [ 79%] Built target dvo_slam_generate_messages_cpp [ 79%] Built target dvo_slam_generate_messages_nodejs [ 80%] Built target dvo_slam_generate_messages_lisp [ 80%] Built target robotino_local_move_generate_messages [ 80%] Built target robotino_msgs_generate_messages [ 80%] Built target dvo_slam_generate_messages In file included from /usr/local/include/sophus/sophus.hpp:28:0, from /usr/local/include/sophus/so3.hpp:29, from /usr/local/include/sophus/se3.hpp:27, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27: /usr/local/include/sophus/ensure.hpp:68:10: error: expected type-specifier before ‘decltype’ -> decltype(std::declvalstd::stringstream&() << std::declval<TT>(), ^ /usr/local/include/sophus/ensure.hpp:68:10: error: expected initializer before ‘decltype’ /usr/local/include/sophus/ensure.hpp:72:33: error: ‘false_type’ in namespace ‘std’ does not name a type static auto test(...) -> std::false_type; ^ /usr/local/include/sophus/ensure.hpp:72:33: error: conflicting specifiers in declaration of ‘test’ /usr/local/include/sophus/ensure.hpp:75:38: error: ‘test’ was not declared in this scope static const bool value = decltype(test<T>(0))::value; ^ /usr/local/include/sophus/ensure.hpp:75:44: error: expected primary-expression before ‘>’ token static const bool value = decltype(test<T>(0))::value; ^ /usr/local/include/sophus/ensure.hpp:75:48: error: a function call cannot appear in a constant-expression static const bool value = decltype(test<T>(0))::value; ^ /usr/local/include/sophus/ensure.hpp:75:48: error: expected ‘;’ at end of member declaration /usr/local/include/sophus/ensure.hpp:75:51: error: using-declaration for non-member at class scope static const bool value = decltype(test<T>(0))::value; ^ /usr/local/include/sophus/ensure.hpp:165:61: error: expected ‘,’ or ‘...’ before ‘&&’ token const char* description, Args&&... args) { ^ /usr/local/include/sophus/ensure.hpp:165:71: error: parameter packs not expanded with ‘...’: const char* description, Args&&... args) { ^ /usr/local/include/sophus/ensure.hpp:165:71: note: ‘Args’ /usr/local/include/sophus/ensure.hpp: In function ‘void Sophus::defaultEnsure(const char*, const char*, int, const char*, )’: /usr/local/include/sophus/ensure.hpp:171:51: error: ‘forward’ is not a member of ‘std’ std::cout << details::FormatString(description, std::forward<Args>(args)...) ^ /usr/local/include/sophus/ensure.hpp:171:68: error: expected primary-expression before ‘>’ token std::cout << details::FormatString(description, std::forward<Args>(args)...) ^ /usr/local/include/sophus/ensure.hpp:171:70: error: ‘args’ was not declared in this scope std::cout << details::FormatString(description, std::forward<Args>(args)...) ^ In file included from /usr/local/include/sophus/se3.hpp:27:0, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27: /usr/local/include/sophus/so3.hpp: At global scope: /usr/local/include/sophus/so3.hpp:56:49: error: template argument 2 is invalid struct traits<Sophus::SO3Group<_Scalar, _Options>> { ^ /usr/local/include/sophus/so3.hpp:56:23: error: template argument 1 is invalid struct traits<Sophus::SO3Group<_Scalar, _Options>> { ^ /usr/local/include/sophus/so3.hpp:63:48: error: template argument 2 is invalid : traits<Sophus::SO3Group<_Scalar, _Options>> { ^ /usr/local/include/sophus/so3.hpp:62:15: error: template argument 1 is invalid struct traits<Map<Sophus::SO3Group<_Scalar>, _Options>> ^ /usr/local/include/sophus/so3.hpp:70:54: error: template argument 2 is invalid : traits<const Sophus::SO3Group<Scalar, Options>> { ^ /usr/local/include/sophus/so3.hpp:69:15: error: template argument 1 is invalid struct traits<Map<const Sophus::SO3Group<Scalar>, Options>> ^ /usr/local/include/sophus/so3.hpp:92:9: error: expected nested-name-specifier before ‘Scalar’ using Scalar = typename Eigen::internal::traits<Derived>::Scalar; ^ /usr/local/include/sophus/so3.hpp:94:9: error: expected nested-name-specifier before ‘QuaternionReference’ using QuaternionReference = ^ /usr/local/include/sophus/so3.hpp:97:9: error: expected nested-name-specifier before ‘ConstQuaternionReference’ using ConstQuaternionReference = ^ /usr/local/include/sophus/so3.hpp:109:25: error: ‘Scalar’ was not declared in this scope typedef Eigen::Matrix<Scalar, N, N> Transformation; ^ /usr/local/include/sophus/so3.hpp:109:25: note: suggested alternative: In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0, from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’ typedef Scalar Scalar; ^ In file included from /usr/local/include/sophus/se3.hpp:27:0, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27: /usr/local/include/sophus/so3.hpp:109:37: error: template argument 1 is invalid typedef Eigen::Matrix<Scalar, N, N> Transformation; ^ /usr/local/include/sophus/so3.hpp:111:25: error: ‘Scalar’ was not declared in this scope typedef Eigen::Matrix<Scalar, 3, 1> Point; ^ /usr/local/include/sophus/so3.hpp:111:25: note: suggested alternative: In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0, from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’ typedef Scalar Scalar; ^ In file included from /usr/local/include/sophus/se3.hpp:27:0, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27: /usr/local/include/sophus/so3.hpp:111:37: error: template argument 1 is invalid typedef Eigen::Matrix<Scalar, 3, 1> Point; ^ /usr/local/include/sophus/so3.hpp:113:25: error: ‘Scalar’ was not declared in this scope typedef Eigen::Matrix<Scalar, DoF, 1> Tangent; ^ /usr/local/include/sophus/so3.hpp:113:25: note: suggested alternative: In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0, from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’ typedef Scalar Scalar; ^ In file included from /usr/local/include/sophus/se3.hpp:27:0, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27: /usr/local/include/sophus/so3.hpp:113:39: error: template argument 1 is invalid typedef Eigen::Matrix<Scalar, DoF, 1> Tangent; ^ /usr/local/include/sophus/so3.hpp:115:25: error: ‘Scalar’ was not declared in this scope typedef Eigen::Matrix<Scalar, DoF, DoF> Adjoint; ^ /usr/local/include/sophus/so3.hpp:115:25: note: suggested alternative: In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0, from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24, from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23: /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’ typedef Scalar Scalar;

[songuke]

I'm not so sure what happens, but it seems Sophus's master branch is updated recently. One possibility is to use an earlier commit of Sophus, e.g., b474f05 back in May 2016:

git clone https://github.com/strasdat/Sophus.git
git checkout b474f05 
cd Sophus
mkdir build
cd build
cmake ..
make
sudo make install 

and then recompile DVO SLAM.

[ttwang0303]

I also encountered this problem, how can I solve it?